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Merge remote-tracking branch 'upstream/master' into 19170B

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This commit is contained in:
Stephen Birarda 2013-04-09 17:04:20 -07:00
commit 9f10be749e
6 changed files with 208 additions and 184 deletions
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11
interface/src/Camera.cpp
View file

@ -11,6 +11,8 @@
//------------------------ //------------------------
Camera::Camera() Camera::Camera()
{ {
mode = CAMERA_MODE_THIRD_PERSON;
fieldOfView = 60.0; // default
yaw = 0.0; yaw = 0.0;
pitch = 0.0; pitch = 0.0;
roll = 0.0; roll = 0.0;
@ -22,6 +24,7 @@ Camera::Camera()
} }
//------------------------ //------------------------
void Camera::update() void Camera::update()
{ {
@ -33,5 +36,13 @@ void Camera::update()
position = glm::dvec3( targetPosition ); position = glm::dvec3( targetPosition );
position += glm::dvec3( x, y, z ); position += glm::dvec3( x, y, z );
//------------------------------------------------------------------------
//geterate the ortho-normals for the orientation based on the Euler angles
//------------------------------------------------------------------------
orientation.setToIdentity();
orientation.yaw ( yaw );
orientation.pitch ( pitch );
orientation.roll ( roll );
} }

50
interface/src/Camera.h
View file

@ -12,6 +12,16 @@
#include "Orientation.h" #include "Orientation.h"
#include <glm/glm.hpp> #include <glm/glm.hpp>
enum CameraMode
{
CAMERA_MODE_NULL = -1,
CAMERA_MODE_FIRST_PERSON,
CAMERA_MODE_THIRD_PERSON,
CAMERA_MODE_MY_OWN_FACE,
NUM_CAMERA_MODES
};
class Camera class Camera
{ {
public: public:
@ -19,30 +29,34 @@ public:
void update(); void update();
void setYaw ( double y ) { yaw = y; } void setMode ( CameraMode m ) { mode = m; }
void setPitch ( double p ) { pitch = p; } void setYaw ( float y ) { yaw = y; }
void setRoll ( double r ) { roll = r; } void setPitch ( float p ) { pitch = p; }
void setUp ( double u ) { up = u; } void setRoll ( float r ) { roll = r; }
void setDistance ( double d ) { distance = d; } void setUp ( float u ) { up = u; }
void setTargetPosition ( glm::dvec3 t ) { targetPosition = t; }; void setDistance ( float d ) { distance = d; }
void setPosition ( glm::dvec3 p ) { position = p; }; void setTargetPosition ( glm::vec3 t ) { targetPosition = t; };
void setPosition ( glm::vec3 p ) { position = p; };
void setOrientation ( Orientation o ) { orientation.set(o); } void setOrientation ( Orientation o ) { orientation.set(o); }
double getYaw () { return yaw; } float getYaw () { return yaw; }
double getPitch () { return pitch; } float getPitch () { return pitch; }
double getRoll () { return roll; } float getRoll () { return roll; }
glm::dvec3 getPosition () { return position; } glm::vec3 getPosition () { return position; }
Orientation getOrientation () { return orientation; } Orientation getOrientation () { return orientation; }
CameraMode getMode () { return mode; }
private: private:
glm::dvec3 position; CameraMode mode;
glm::dvec3 targetPosition; glm::vec3 position;
double yaw; glm::vec3 targetPosition;
double pitch; float fieldOfView;
double roll; float yaw;
double up; float pitch;
double distance; float roll;
float up;
float distance;
Orientation orientation; Orientation orientation;
}; };

203
interface/src/Head.cpp
View file

@ -190,7 +190,7 @@ void Head::reset()
//this pertains to moving the head with the glasses
//--------------------------------------------------- //---------------------------------------------------
void Head::UpdatePos(float frametime, SerialInterface * serialInterface, int head_mirror, glm::vec3 * gravity) void Head::UpdatePos(float frametime, SerialInterface * serialInterface, int head_mirror, glm::vec3 * gravity)
// Using serial data, update avatar/render position and angles // Using serial data, update avatar/render position and angles
@ -239,9 +239,9 @@ void Head::UpdatePos(float frametime, SerialInterface * serialInterface, int hea
//--------------------------------------------------- //---------------------------------------------------
void Head::setAvatarPosition( double x, double y, double z ) void Head::setAvatarPosition( float x, float y, float z )
{ {
avatar.position = glm::dvec3( x, y, z ); avatar.position = glm::vec3( x, y, z );
} }
@ -285,10 +285,7 @@ void Head::simulate(float deltaTime)
sin( avatar.pitch * PI_OVER_180 ), sin( avatar.pitch * PI_OVER_180 ),
cos( avatar.roll * PI_OVER_180 ) cos( avatar.roll * PI_OVER_180 )
); );
*/
/*
glm::vec3 forward(-sinf(getRenderYaw()*PI/180), glm::vec3 forward(-sinf(getRenderYaw()*PI/180),
sinf(getRenderPitch()*PI/180), sinf(getRenderPitch()*PI/180),
cosf(getRenderYaw()*PI/180)); cosf(getRenderYaw()*PI/180));
@ -297,92 +294,53 @@ void Head::simulate(float deltaTime)
*/ */
const float THRUST_MAG = 10.0; const float THRUST_MAG = 10.0;
/*
const float THRUST_LATERAL_MAG = 10.0; const float THRUST_LATERAL_MAG = 10.0;
const float THRUST_VERTICAL_MAG = 10.0; const float THRUST_VERTICAL_MAG = 10.0;
*/
avatar.thrust = glm::vec3( 0.0, 0.0, 0.0 );
avatar.thrust = glm::dvec3( 0.0, 0.0, 0.0 );
if (driveKeys[FWD]) if (driveKeys[FWD])
{ {
//position.x += avatar.orientation.getFront().getX() * 0.01;
//position.y += avatar.orientation.getFront().getY() * 0.01;
//position.z -= avatar.orientation.getFront().getZ() * 0.01;
avatar.thrust.x += avatar.orientation.getFront().getX() * THRUST_MAG; avatar.thrust.x += avatar.orientation.getFront().getX() * THRUST_MAG;
avatar.thrust.y += avatar.orientation.getFront().getY() * THRUST_MAG; avatar.thrust.y += avatar.orientation.getFront().getY() * THRUST_MAG;
avatar.thrust.z -= avatar.orientation.getFront().getZ() * THRUST_MAG; avatar.thrust.z -= avatar.orientation.getFront().getZ() * THRUST_MAG;
//thrust += THRUST_MAG*forward; //thrust += THRUST_MAG*forward;
} }
if (driveKeys[BACK]) if (driveKeys[BACK])
{ {
//position.x -= avatar.orientation.getFront().getX() * 0.01;
//position.y -= avatar.orientation.getFront().getY() * 0.01;
//position.z += avatar.orientation.getFront().getZ() * 0.01;
avatar.thrust.x -= avatar.orientation.getFront().getX() * THRUST_MAG; avatar.thrust.x -= avatar.orientation.getFront().getX() * THRUST_MAG;
avatar.thrust.y -= avatar.orientation.getFront().getY() * THRUST_MAG; avatar.thrust.y -= avatar.orientation.getFront().getY() * THRUST_MAG;
avatar.thrust.z += avatar.orientation.getFront().getZ() * THRUST_MAG; avatar.thrust.z += avatar.orientation.getFront().getZ() * THRUST_MAG;
//thrust += -THRUST_MAG*forward; //thrust += -THRUST_MAG*forward;
} }
if (driveKeys[RIGHT]) if (driveKeys[RIGHT])
{ {
//position.x += avatar.orientation.getRight().getX() * 0.01; avatar.thrust.x += avatar.orientation.getRight().getX() * THRUST_LATERAL_MAG;
//position.y += avatar.orientation.getRight().getY() * 0.01; avatar.thrust.y += avatar.orientation.getRight().getY() * THRUST_LATERAL_MAG;
//position.z -= avatar.orientation.getRight().getZ() * 0.01; avatar.thrust.z -= avatar.orientation.getRight().getZ() * THRUST_LATERAL_MAG;
avatar.thrust.x += avatar.orientation.getRight().getX() * THRUST_MAG;
avatar.thrust.y += avatar.orientation.getRight().getY() * THRUST_MAG;
avatar.thrust.z -= avatar.orientation.getRight().getZ() * THRUST_MAG;
//thrust.x += forward.z*-THRUST_LATERAL_MAG; //thrust.x += forward.z*-THRUST_LATERAL_MAG;
//thrust.z += forward.x*THRUST_LATERAL_MAG; //thrust.z += forward.x*THRUST_LATERAL_MAG;
} }
if (driveKeys[LEFT]) if (driveKeys[LEFT])
{ {
//position.x -= avatar.orientation.getRight().getX() * 0.01; avatar.thrust.x -= avatar.orientation.getRight().getX() * THRUST_LATERAL_MAG;
//position.y -= avatar.orientation.getRight().getY() * 0.01; avatar.thrust.y -= avatar.orientation.getRight().getY() * THRUST_LATERAL_MAG;
//position.z += avatar.orientation.getRight().getZ() * 0.01; avatar.thrust.z += avatar.orientation.getRight().getZ() * THRUST_LATERAL_MAG;
avatar.thrust.x -= avatar.orientation.getRight().getX() * THRUST_MAG;
avatar.thrust.y -= avatar.orientation.getRight().getY() * THRUST_MAG;
avatar.thrust.z += avatar.orientation.getRight().getZ() * THRUST_MAG;
//thrust.x += forward.z*THRUST_LATERAL_MAG; //thrust.x += forward.z*THRUST_LATERAL_MAG;
//thrust.z += forward.x*-THRUST_LATERAL_MAG; //thrust.z += forward.x*-THRUST_LATERAL_MAG;
} }
if (driveKeys[UP]) if (driveKeys[UP])
{ {
//position.x -= avatar.orientation.getUp().getX() * 0.01; avatar.thrust.x -= avatar.orientation.getUp().getX() * THRUST_VERTICAL_MAG;
//position.y -= avatar.orientation.getUp().getY() * 0.01; avatar.thrust.y -= avatar.orientation.getUp().getY() * THRUST_VERTICAL_MAG;
//position.z += avatar.orientation.getUp().getZ() * 0.01; avatar.thrust.z += avatar.orientation.getUp().getZ() * THRUST_VERTICAL_MAG;
avatar.thrust.x -= avatar.orientation.getUp().getX() * THRUST_MAG;
avatar.thrust.y -= avatar.orientation.getUp().getY() * THRUST_MAG;
avatar.thrust.z += avatar.orientation.getUp().getZ() * THRUST_MAG;
//thrust.y += -THRUST_VERTICAL_MAG; //thrust.y += -THRUST_VERTICAL_MAG;
} }
if (driveKeys[DOWN]) if (driveKeys[DOWN])
{ {
//position.x += avatar.orientation.getUp().getX() * 0.01; avatar.thrust.x += avatar.orientation.getUp().getX() * THRUST_VERTICAL_MAG;
//position.y += avatar.orientation.getUp().getY() * 0.01; avatar.thrust.y += avatar.orientation.getUp().getY() * THRUST_VERTICAL_MAG;
//position.z -= avatar.orientation.getUp().getZ() * 0.01; avatar.thrust.z -= avatar.orientation.getUp().getZ() * THRUST_VERTICAL_MAG;
avatar.thrust.x += avatar.orientation.getUp().getX() * THRUST_MAG;
avatar.thrust.y += avatar.orientation.getUp().getY() * THRUST_MAG;
avatar.thrust.z -= avatar.orientation.getUp().getZ() * THRUST_MAG;
//thrust.y += THRUST_VERTICAL_MAG; //thrust.y += THRUST_VERTICAL_MAG;
} }
@ -404,9 +362,9 @@ void Head::simulate(float deltaTime)
//avatar.yawDelta *= 0.99; //avatar.yawDelta *= 0.99;
avatar.velocity += avatar.thrust * (double)deltaTime; avatar.velocity += glm::dvec3( avatar.thrust * deltaTime );
position += avatar.velocity * (double)deltaTime; position += (glm::vec3)avatar.velocity * deltaTime;
//avatar.velocity *= 0.9; //avatar.velocity *= 0.9;
@ -715,9 +673,9 @@ void Head::renderHead( int faceToFace, int isMine )
//--------------------------------------------------------- //---------------------------------------------------------
void Head::setHandMovement( glm::dvec3 movement ) void Head::setHandMovement( glm::vec3 movement )
{ {
handOffset = glm::dvec3( movement.x, -movement.y, movement.z ); handOffset = glm::vec3( movement.x, -movement.y, movement.z );
} }
@ -725,12 +683,12 @@ void Head::setHandMovement( glm::dvec3 movement )
//----------------------------------------- //-----------------------------------------
void Head::initializeAvatar() void Head::initializeAvatar()
{ {
avatar.position = glm::dvec3( 0.0, 0.0, 0.0 ); avatar.position = glm::vec3( 0.0, 0.0, 0.0 );
avatar.velocity = glm::dvec3( 0.0, 0.0, 0.0 ); avatar.velocity = glm::vec3( 0.0, 0.0, 0.0 );
avatar.thrust = glm::dvec3( 0.0, 0.0, 0.0 ); avatar.thrust = glm::vec3( 0.0, 0.0, 0.0 );
avatar.orientation.setToIdentity(); avatar.orientation.setToIdentity();
avatar.yaw = 0.0; avatar.yaw = 90.0;
avatar.pitch = 0.0; avatar.pitch = 0.0;
avatar.roll = 0.0; avatar.roll = 0.0;
@ -738,9 +696,8 @@ void Head::initializeAvatar()
for (int b=0; b<NUM_AVATAR_BONES; b++) for (int b=0; b<NUM_AVATAR_BONES; b++)
{ {
avatar.bone[b].worldPosition = glm::dvec3( 0.0, 0.0, 0.0 ); avatar.bone[b].worldPosition = glm::vec3( 0.0, 0.0, 0.0 );
//avatar.bone[b].offsetPosition = glm::dvec3( 0.0, 0.0, 0.0 ); avatar.bone[b].velocity = glm::vec3( 0.0, 0.0, 0.0 );
avatar.bone[b].velocity = glm::dvec3( 0.0, 0.0, 0.0 );
avatar.bone[b].worldOrientation.setToIdentity(); avatar.bone[b].worldOrientation.setToIdentity();
} }
@ -778,7 +735,7 @@ void Head::initializeAvatar()
//---------------------------------------------------------------------------- //----------------------------------------------------------------------------
// left pelvis and leg // left pelvis and leg
//---------------------------------------------------------------------------- //----------------------------------------------------------------------------
avatar.bone[ AVATAR_BONE_LEFT_PELVIS ].parent = AVATAR_BONE_NULL; avatar.bone[ AVATAR_BONE_LEFT_PELVIS ].parent = AVATAR_BONE_PELVIS_SPINE;
avatar.bone[ AVATAR_BONE_LEFT_THIGH ].parent = AVATAR_BONE_LEFT_PELVIS; avatar.bone[ AVATAR_BONE_LEFT_THIGH ].parent = AVATAR_BONE_LEFT_PELVIS;
avatar.bone[ AVATAR_BONE_LEFT_SHIN ].parent = AVATAR_BONE_LEFT_THIGH; avatar.bone[ AVATAR_BONE_LEFT_SHIN ].parent = AVATAR_BONE_LEFT_THIGH;
avatar.bone[ AVATAR_BONE_LEFT_FOOT ].parent = AVATAR_BONE_LEFT_SHIN; avatar.bone[ AVATAR_BONE_LEFT_FOOT ].parent = AVATAR_BONE_LEFT_SHIN;
@ -786,7 +743,7 @@ void Head::initializeAvatar()
//---------------------------------------------------------------------------- //----------------------------------------------------------------------------
// right pelvis and leg // right pelvis and leg
//---------------------------------------------------------------------------- //----------------------------------------------------------------------------
avatar.bone[ AVATAR_BONE_RIGHT_PELVIS ].parent = AVATAR_BONE_NULL; avatar.bone[ AVATAR_BONE_RIGHT_PELVIS ].parent = AVATAR_BONE_PELVIS_SPINE;
avatar.bone[ AVATAR_BONE_RIGHT_THIGH ].parent = AVATAR_BONE_RIGHT_PELVIS; avatar.bone[ AVATAR_BONE_RIGHT_THIGH ].parent = AVATAR_BONE_RIGHT_PELVIS;
avatar.bone[ AVATAR_BONE_RIGHT_SHIN ].parent = AVATAR_BONE_RIGHT_THIGH; avatar.bone[ AVATAR_BONE_RIGHT_SHIN ].parent = AVATAR_BONE_RIGHT_THIGH;
avatar.bone[ AVATAR_BONE_RIGHT_FOOT ].parent = AVATAR_BONE_RIGHT_SHIN; avatar.bone[ AVATAR_BONE_RIGHT_FOOT ].parent = AVATAR_BONE_RIGHT_SHIN;
@ -795,29 +752,29 @@ void Head::initializeAvatar()
//---------------------------------------------------------- //----------------------------------------------------------
// specify the default pose position // specify the default pose position
//---------------------------------------------------------- //----------------------------------------------------------
avatar.bone[ AVATAR_BONE_PELVIS_SPINE ].defaultPosePosition = glm::dvec3( 0.0, 0.1, 0.0 ); avatar.bone[ AVATAR_BONE_PELVIS_SPINE ].defaultPosePosition = glm::vec3( 0.0, 0.1, 0.0 );
avatar.bone[ AVATAR_BONE_MID_SPINE ].defaultPosePosition = glm::dvec3( 0.0, 0.1, 0.0 ); avatar.bone[ AVATAR_BONE_MID_SPINE ].defaultPosePosition = glm::vec3( 0.0, 0.1, 0.0 );
avatar.bone[ AVATAR_BONE_CHEST_SPINE ].defaultPosePosition = glm::dvec3( 0.0, 0.1, 0.0 ); avatar.bone[ AVATAR_BONE_CHEST_SPINE ].defaultPosePosition = glm::vec3( 0.0, 0.1, 0.0 );
avatar.bone[ AVATAR_BONE_NECK ].defaultPosePosition = glm::dvec3( 0.0, 0.06, 0.0 ); avatar.bone[ AVATAR_BONE_NECK ].defaultPosePosition = glm::vec3( 0.0, 0.06, 0.0 );
avatar.bone[ AVATAR_BONE_HEAD ].defaultPosePosition = glm::dvec3( 0.0, 0.06, 0.0 ); avatar.bone[ AVATAR_BONE_HEAD ].defaultPosePosition = glm::vec3( 0.0, 0.06, 0.0 );
avatar.bone[ AVATAR_BONE_LEFT_CHEST ].defaultPosePosition = glm::dvec3( -0.06, 0.06, 0.0 ); avatar.bone[ AVATAR_BONE_LEFT_CHEST ].defaultPosePosition = glm::vec3( -0.06, 0.06, 0.0 );
avatar.bone[ AVATAR_BONE_LEFT_SHOULDER ].defaultPosePosition = glm::dvec3( -0.03, 0.0, 0.0 ); avatar.bone[ AVATAR_BONE_LEFT_SHOULDER ].defaultPosePosition = glm::vec3( -0.03, 0.0, 0.0 );
avatar.bone[ AVATAR_BONE_LEFT_UPPER_ARM ].defaultPosePosition = glm::dvec3( 0.0, -0.12, 0.0 ); avatar.bone[ AVATAR_BONE_LEFT_UPPER_ARM ].defaultPosePosition = glm::vec3( 0.0, -0.12, 0.0 );
avatar.bone[ AVATAR_BONE_LEFT_FOREARM ].defaultPosePosition = glm::dvec3( 0.0, -0.1, 0.0 ); avatar.bone[ AVATAR_BONE_LEFT_FOREARM ].defaultPosePosition = glm::vec3( 0.0, -0.1, 0.0 );
avatar.bone[ AVATAR_BONE_LEFT_HAND ].defaultPosePosition = glm::dvec3( 0.0, -0.05, 0.0 ); avatar.bone[ AVATAR_BONE_LEFT_HAND ].defaultPosePosition = glm::vec3( 0.0, -0.05, 0.0 );
avatar.bone[ AVATAR_BONE_RIGHT_CHEST ].defaultPosePosition = glm::dvec3( 0.06, 0.06, 0.0 ); avatar.bone[ AVATAR_BONE_RIGHT_CHEST ].defaultPosePosition = glm::vec3( 0.06, 0.06, 0.0 );
avatar.bone[ AVATAR_BONE_RIGHT_SHOULDER ].defaultPosePosition = glm::dvec3( 0.03, 0.0, 0.0 ); avatar.bone[ AVATAR_BONE_RIGHT_SHOULDER ].defaultPosePosition = glm::vec3( 0.03, 0.0, 0.0 );
avatar.bone[ AVATAR_BONE_RIGHT_UPPER_ARM ].defaultPosePosition = glm::dvec3( 0.0, -0.12, 0.0 ); avatar.bone[ AVATAR_BONE_RIGHT_UPPER_ARM ].defaultPosePosition = glm::vec3( 0.0, -0.12, 0.0 );
avatar.bone[ AVATAR_BONE_RIGHT_FOREARM ].defaultPosePosition = glm::dvec3( 0.0, -0.1, 0.0 ); avatar.bone[ AVATAR_BONE_RIGHT_FOREARM ].defaultPosePosition = glm::vec3( 0.0, -0.1, 0.0 );
avatar.bone[ AVATAR_BONE_RIGHT_HAND ].defaultPosePosition = glm::dvec3( 0.0, -0.05, 0.0 ); avatar.bone[ AVATAR_BONE_RIGHT_HAND ].defaultPosePosition = glm::vec3( 0.0, -0.05, 0.0 );
avatar.bone[ AVATAR_BONE_LEFT_PELVIS ].defaultPosePosition = glm::dvec3( -0.05, 0.0, 0.0 ); avatar.bone[ AVATAR_BONE_LEFT_PELVIS ].defaultPosePosition = glm::vec3( -0.05, 0.0, 0.0 );
avatar.bone[ AVATAR_BONE_LEFT_THIGH ].defaultPosePosition = glm::dvec3( 0.0, -0.15, 0.0 ); avatar.bone[ AVATAR_BONE_LEFT_THIGH ].defaultPosePosition = glm::vec3( 0.0, -0.15, 0.0 );
avatar.bone[ AVATAR_BONE_LEFT_SHIN ].defaultPosePosition = glm::dvec3( 0.0, -0.15, 0.0 ); avatar.bone[ AVATAR_BONE_LEFT_SHIN ].defaultPosePosition = glm::vec3( 0.0, -0.15, 0.0 );
avatar.bone[ AVATAR_BONE_LEFT_FOOT ].defaultPosePosition = glm::dvec3( 0.0, 0.0, 0.04 ); avatar.bone[ AVATAR_BONE_LEFT_FOOT ].defaultPosePosition = glm::vec3( 0.0, 0.0, 0.04 );
avatar.bone[ AVATAR_BONE_RIGHT_PELVIS ].defaultPosePosition = glm::dvec3( 0.05, 0.0, 0.0 ); avatar.bone[ AVATAR_BONE_RIGHT_PELVIS ].defaultPosePosition = glm::vec3( 0.05, 0.0, 0.0 );
avatar.bone[ AVATAR_BONE_RIGHT_THIGH ].defaultPosePosition = glm::dvec3( 0.0, -0.15, 0.0 ); avatar.bone[ AVATAR_BONE_RIGHT_THIGH ].defaultPosePosition = glm::vec3( 0.0, -0.15, 0.0 );
avatar.bone[ AVATAR_BONE_RIGHT_SHIN ].defaultPosePosition = glm::dvec3( 0.0, -0.15, 0.0 ); avatar.bone[ AVATAR_BONE_RIGHT_SHIN ].defaultPosePosition = glm::vec3( 0.0, -0.15, 0.0 );
avatar.bone[ AVATAR_BONE_RIGHT_FOOT ].defaultPosePosition = glm::dvec3( 0.0, 0.0, 0.04 ); avatar.bone[ AVATAR_BONE_RIGHT_FOOT ].defaultPosePosition = glm::vec3( 0.0, 0.0, 0.04 );
//---------------------------------------------------------------------------- //----------------------------------------------------------------------------
// calculate bone length // calculate bone length
@ -880,19 +837,19 @@ void Head::updateAvatarSkeleton()
avatar.bone[b].worldPosition = avatar.bone[ avatar.bone[b].parent ].worldPosition; avatar.bone[b].worldPosition = avatar.bone[ avatar.bone[b].parent ].worldPosition;
} }
double xx = glm::dot( avatar.bone[b].defaultPosePosition.x, avatar.bone[b].worldOrientation.getRight ().x ) float xx = glm::dot( avatar.bone[b].defaultPosePosition.x, (float)avatar.bone[b].worldOrientation.getRight ().x )
+ glm::dot( avatar.bone[b].defaultPosePosition.y, avatar.bone[b].worldOrientation.getRight ().y ) + glm::dot( avatar.bone[b].defaultPosePosition.y, (float)avatar.bone[b].worldOrientation.getRight ().y )
+ glm::dot( avatar.bone[b].defaultPosePosition.z, avatar.bone[b].worldOrientation.getRight ().z ); + glm::dot( avatar.bone[b].defaultPosePosition.z, (float)avatar.bone[b].worldOrientation.getRight ().z );
double yy = glm::dot( avatar.bone[b].defaultPosePosition.x, avatar.bone[b].worldOrientation.getUp ().x ) float yy = glm::dot( avatar.bone[b].defaultPosePosition.x, (float)avatar.bone[b].worldOrientation.getUp ().x )
+ glm::dot( avatar.bone[b].defaultPosePosition.y, avatar.bone[b].worldOrientation.getUp ().y ) + glm::dot( avatar.bone[b].defaultPosePosition.y, (float)avatar.bone[b].worldOrientation.getUp ().y )
+ glm::dot( avatar.bone[b].defaultPosePosition.z, avatar.bone[b].worldOrientation.getUp ().z ); + glm::dot( avatar.bone[b].defaultPosePosition.z, (float)avatar.bone[b].worldOrientation.getUp ().z );
double zz = glm::dot( avatar.bone[b].defaultPosePosition.x, avatar.bone[b].worldOrientation.getFront ().x ) float zz = glm::dot( avatar.bone[b].defaultPosePosition.x, (float)avatar.bone[b].worldOrientation.getFront ().x )
+ glm::dot( avatar.bone[b].defaultPosePosition.y, avatar.bone[b].worldOrientation.getFront ().y ) + glm::dot( avatar.bone[b].defaultPosePosition.y, (float)avatar.bone[b].worldOrientation.getFront ().y )
+ glm::dot( avatar.bone[b].defaultPosePosition.z, avatar.bone[b].worldOrientation.getFront ().z ); + glm::dot( avatar.bone[b].defaultPosePosition.z, (float)avatar.bone[b].worldOrientation.getFront ().z );
glm::dvec3 rotatedBoneVector( xx, yy, zz ); glm::vec3 rotatedBoneVector( xx, yy, zz );
//rotatedBonePosition.x = avatar.bone[b].defaultPosePosition.x;// * avatar.bone[b].worldOrientation.getFront().x; //rotatedBonePosition.x = avatar.bone[b].defaultPosePosition.x;// * avatar.bone[b].worldOrientation.getFront().x;
//rotatedBonePosition.y = avatar.bone[b].defaultPosePosition.y;// * avatar.bone[b].worldOrientation.getFront().y; //rotatedBonePosition.y = avatar.bone[b].defaultPosePosition.y;// * avatar.bone[b].worldOrientation.getFront().y;
@ -947,7 +904,7 @@ void Head::updateAvatarSkeleton()
//------------------------------- //-------------------------------
double Head::getAvatarYaw() float Head::getAvatarYaw()
{ {
return avatar.yaw; return avatar.yaw;
} }
@ -969,7 +926,6 @@ void Head::updateHandMovement()
//------------------------------------------------------------------------------- //-------------------------------------------------------------------------------
float distance = glm::length( armVector ); float distance = glm::length( armVector );
//------------------------------------------------------------------------------- //-------------------------------------------------------------------------------
// if right hand is being dragged beyond maximum arm length... // if right hand is being dragged beyond maximum arm length...
//------------------------------------------------------------------------------- //-------------------------------------------------------------------------------
@ -992,9 +948,18 @@ void Head::updateHandMovement()
//----------------------------------------------------------------------------- //-----------------------------------------------------------------------------
glm::vec3 newElbowPosition = avatar.bone[ AVATAR_BONE_RIGHT_SHOULDER ].worldPosition; glm::vec3 newElbowPosition = avatar.bone[ AVATAR_BONE_RIGHT_SHOULDER ].worldPosition;
newElbowPosition += armVector * (float)ONE_HALF; newElbowPosition += armVector * (float)ONE_HALF;
glm::dvec3 perpendicular = glm::dvec3( -armVector.y, armVector.x, armVector.z ); glm::vec3 perpendicular = glm::vec3( -armVector.y, armVector.x, armVector.z );
newElbowPosition += perpendicular * ( 1.0 - ( avatar.maxArmLength / distance ) ) * ONE_HALF; newElbowPosition += perpendicular * (float)( ( 1.0 - ( avatar.maxArmLength / distance ) ) * ONE_HALF );
avatar.bone[ AVATAR_BONE_RIGHT_FOREARM ].worldPosition = newElbowPosition; avatar.bone[ AVATAR_BONE_RIGHT_UPPER_ARM ].worldPosition = newElbowPosition;
//-----------------------------------------------------------------------------
// set wrist position
//-----------------------------------------------------------------------------
glm::vec3 vv( avatar.bone[ AVATAR_BONE_RIGHT_HAND ].worldPosition );
vv -= avatar.bone[ AVATAR_BONE_RIGHT_UPPER_ARM ].worldPosition;
glm::vec3 newWristPosition = avatar.bone[ AVATAR_BONE_RIGHT_UPPER_ARM ].worldPosition;
newWristPosition += vv * 0.7f;
avatar.bone[ AVATAR_BONE_RIGHT_FOREARM ].worldPosition = newWristPosition;
} }
@ -1005,7 +970,9 @@ void Head::renderBody()
{ {
glColor3fv(skinColor); glColor3fv(skinColor);
//-----------------------------------------
// Render bones as spheres // Render bones as spheres
//-----------------------------------------
for (int b=0; b<NUM_AVATAR_BONES; b++) for (int b=0; b<NUM_AVATAR_BONES; b++)
{ {
glPushMatrix(); glPushMatrix();
@ -1014,9 +981,21 @@ void Head::renderBody()
glPopMatrix(); glPopMatrix();
} }
//-----------------------------------------
// Render lines connecting the bones // Render lines connecting the bones
//-----------------------------------------
glColor3f(1,1,1); glColor3f(1,1,1);
glLineWidth(3.0); glLineWidth(3.0);
for (int b=1; b<NUM_AVATAR_BONES; b++)
{
glBegin( GL_LINE_STRIP );
glVertex3fv( &avatar.bone[ avatar.bone[ b ].parent ].worldPosition.x);
glVertex3fv( &avatar.bone[ b ].worldPosition.x);
glEnd();
}
/*
glBegin(GL_LINE_STRIP); glBegin(GL_LINE_STRIP);
glVertex3fv(&avatar.bone[AVATAR_BONE_CHEST_SPINE].worldPosition.x); glVertex3fv(&avatar.bone[AVATAR_BONE_CHEST_SPINE].worldPosition.x);
glVertex3fv(&avatar.bone[AVATAR_BONE_NECK].worldPosition.x); glVertex3fv(&avatar.bone[AVATAR_BONE_NECK].worldPosition.x);
@ -1052,6 +1031,8 @@ void Head::renderBody()
glVertex3fv(&avatar.bone[AVATAR_BONE_RIGHT_SHIN].worldPosition.x); glVertex3fv(&avatar.bone[AVATAR_BONE_RIGHT_SHIN].worldPosition.x);
glVertex3fv(&avatar.bone[AVATAR_BONE_RIGHT_FOOT].worldPosition.x); glVertex3fv(&avatar.bone[AVATAR_BONE_RIGHT_FOOT].worldPosition.x);
glEnd(); glEnd();
*/
} }
@ -1090,7 +1071,9 @@ void Head::parseData(void *data, int size)
&Pitch, &Yaw, &Roll, &Pitch, &Yaw, &Roll,
&position.x, &position.y, &position.z, &position.x, &position.y, &position.z,
&loudness, &averageLoudness, &loudness, &averageLoudness,
&handPos.x, &handPos.y, &handPos.z &avatar.bone[ AVATAR_BONE_RIGHT_HAND ].worldPosition.x,
&avatar.bone[ AVATAR_BONE_RIGHT_HAND ].worldPosition.y,
&avatar.bone[ AVATAR_BONE_RIGHT_HAND ].worldPosition.z
); );
if (glm::length(handPos) > 0.0) hand->setPos(handPos); if (glm::length(handPos) > 0.0) hand->setPos(handPos);

32
interface/src/Head.h
View file

@ -105,25 +105,25 @@ struct AvatarBone
{ {
AvatarBones parent; AvatarBones parent;
glm::vec3 worldPosition; glm::vec3 worldPosition;
glm::dvec3 defaultPosePosition; glm::vec3 defaultPosePosition;
glm::dvec3 velocity; glm::dvec3 velocity;
double yaw; float yaw;
double pitch; float pitch;
double roll; float roll;
Orientation worldOrientation; Orientation worldOrientation;
double length; float length;
}; };
struct Avatar struct Avatar
{ {
glm::dvec3 position; glm::vec3 position;
glm::dvec3 velocity; glm::dvec3 velocity;
glm::dvec3 thrust; glm::vec3 thrust;
double yaw; float yaw;
double pitch; float pitch;
double roll; float roll;
double yawDelta; float yawDelta;
double maxArmLength; float maxArmLength;
Orientation orientation; Orientation orientation;
AvatarBone bone[ NUM_AVATAR_BONES ]; AvatarBone bone[ NUM_AVATAR_BONES ];
}; };
@ -157,17 +157,17 @@ class Head : public AgentData {
float getYaw() {return Yaw;} float getYaw() {return Yaw;}
float getLastMeasuredYaw() {return YawRate;} float getLastMeasuredYaw() {return YawRate;}
double getAvatarYaw(); float getAvatarYaw();
void render(int faceToFace, int isMine); void render(int faceToFace, int isMine);
void setAvatarPosition( double, double, double ); void setAvatarPosition( float, float, float );
void renderBody(); void renderBody();
void renderHead( int faceToFace, int isMine ); void renderHead( int faceToFace, int isMine );
void simulate(float); void simulate(float);
void setHandMovement( glm::dvec3 movement ); void setHandMovement( glm::vec3 movement );
void updateHandMovement(); void updateHandMovement();
// Send and receive network data // Send and receive network data
@ -233,7 +233,7 @@ class Head : public AgentData {
glm::vec3 velocity; glm::vec3 velocity;
glm::vec3 thrust; glm::vec3 thrust;
glm::dvec3 handOffset; glm::vec3 handOffset;
int driveKeys[MAX_DRIVE_KEYS]; int driveKeys[MAX_DRIVE_KEYS];

82
interface/src/main.cpp
View file

@ -385,7 +385,7 @@ void init(void)
} }
myHead.setPos(start_location ); myHead.setPos(start_location );
myCamera.setPosition( glm::dvec3( start_location ) ); myCamera.setPosition( start_location );
#ifdef MARKER_CAPTURE #ifdef MARKER_CAPTURE
if(marker_capture_enabled){ if(marker_capture_enabled){
@ -600,48 +600,46 @@ void display(void)
glMaterialfv(GL_FRONT, GL_SPECULAR, specular_color); glMaterialfv(GL_FRONT, GL_SPECULAR, specular_color);
glMateriali(GL_FRONT, GL_SHININESS, 96); glMateriali(GL_FRONT, GL_SHININESS, 96);
//------------------------------------------------------------------------------------- //--------------------------------------------------------
// set the camera to third-person view // camera settings
//------------------------------------------------------------------------------------- //--------------------------------------------------------
myCamera.setTargetPosition( (glm::dvec3)myHead.getPos() ); myCamera.setTargetPosition( myHead.getPos() );
myCamera.setPitch ( 0.0 );
myCamera.setRoll ( 0.0 );
if ( display_head ) if ( display_head )
//-------------------------------------------------------------------------------------
// set the camera to looking at my face
//-------------------------------------------------------------------------------------
{ {
//-----------------------------------------------
// set the camera to looking at my own face
//-----------------------------------------------
myCamera.setYaw ( - myHead.getAvatarYaw() ); myCamera.setYaw ( - myHead.getAvatarYaw() );
myCamera.setPitch ( 0.0 );
myCamera.setRoll ( 0.0 );
myCamera.setUp ( 0.4 ); myCamera.setUp ( 0.4 );
myCamera.setDistance( 0.5 );
myCamera.setDistance( 0.08 ); myCamera.setDistance( 0.08 );
myCamera.update(); myCamera.update();
} }
else else
//-------------------------------------------------------------------------------------
// set the camera to third-person view
//-------------------------------------------------------------------------------------
{ {
//----------------------------------------------------
// set the camera to third-person view behind my av
//----------------------------------------------------
myCamera.setYaw ( 180.0 - myHead.getAvatarYaw() ); myCamera.setYaw ( 180.0 - myHead.getAvatarYaw() );
myCamera.setUp ( 0.15 ); myCamera.setPitch ( 10.0 );
myCamera.setDistance( 0.08 ); myCamera.setRoll ( 0.0 );
myCamera.setUp ( 0.2 );
myCamera.setDistance( 1.6 );
myCamera.setDistance( 0.5 );
myCamera.update(); myCamera.update();
} }
//------------------------------------------------------------------------------------- //---------------------------------------------
// transform to camera view // transform view according to myCamera
//------------------------------------------------------------------------------------- //---------------------------------------------
glRotatef ( myCamera.getPitch(), 1, 0, 0 ); glRotatef ( myCamera.getPitch(), 1, 0, 0 );
glRotatef ( myCamera.getYaw(), 0, 1, 0 ); glRotatef ( myCamera.getYaw(), 0, 1, 0 );
glRotatef ( myCamera.getRoll(), 0, 0, 1 ); glRotatef ( myCamera.getRoll(), 0, 0, 1 );
//printf( "myCamera position = %f, %f, %f\n", myCamera.getPosition().x, myCamera.getPosition().y, myCamera.getPosition().z );
glTranslatef( myCamera.getPosition().x, myCamera.getPosition().y, myCamera.getPosition().z ); glTranslatef( myCamera.getPosition().x, myCamera.getPosition().y, myCamera.getPosition().z );
// fixed view
//glTranslatef( 6.18, -0.15, 1.4 );
if (::starsOn) { if (::starsOn) {
// should be the first rendering pass - w/o depth buffer / lighting // should be the first rendering pass - w/o depth buffer / lighting
stars.render(fov); stars.render(fov);
@ -665,8 +663,10 @@ void display(void)
if (display_field) field.render(); if (display_field) field.render();
// Render heads of other agents // Render heads of other agents
for(std::vector<Agent>::iterator agent = agentList.getAgents().begin(); agent != agentList.getAgents().end(); agent++) { for(std::vector<Agent>::iterator agent = agentList.getAgents().begin(); agent != agentList.getAgents().end(); agent++)
if (agent->getLinkedData() != NULL) { {
if (agent->getLinkedData() != NULL)
{
Head *agentHead = (Head *)agent->getLinkedData(); Head *agentHead = (Head *)agent->getLinkedData();
glPushMatrix(); glPushMatrix();
glm::vec3 pos = agentHead->getPos(); glm::vec3 pos = agentHead->getPos();
@ -676,7 +676,7 @@ void display(void)
} }
} }
if (!display_head) balls.render(); if ( !display_head ) balls.render();
// Render the world box // Render the world box
if (!display_head && stats_on) render_world_box(); if (!display_head && stats_on) render_world_box();
@ -1041,19 +1041,34 @@ void idle(void)
//---------------------------------------------------------------- //----------------------------------------------------------------
if ( mouse_pressed == 1 ) if ( mouse_pressed == 1 )
{ {
double xOffset = ( mouse_x - mouse_start_x ) / (double)WIDTH; float xOffset = ( mouse_x - mouse_start_x ) / (double)WIDTH;
double yOffset = ( mouse_y - mouse_start_y ) / (double)HEIGHT; float yOffset = ( mouse_y - mouse_start_y ) / (double)HEIGHT;
double leftRight = xOffset; float leftRight = xOffset;
double downUp = yOffset; float downUp = yOffset;
double backFront = 0.0; float backFront = 0.0;
glm::dvec3 handMovement( leftRight, downUp, backFront ); glm::vec3 handMovement( leftRight, downUp, backFront );
myHead.setHandMovement( handMovement ); myHead.setHandMovement( handMovement );
} }
// Simulation // Simulation
simulateHead(1.f/FPS); simulateHead(1.f/FPS);
//test
/*
// simulate the other agents
for(std::vector<Agent>::iterator agent = agentList.getAgents().begin(); agent != agentList.getAgents().end(); agent++)
{
if (agent->getLinkedData() != NULL)
{
Head *agentHead = (Head *)agent->getLinkedData();
agentHead->simulate(1.f/FPS);
}
}
*/
simulateHand(1.f/FPS); simulateHand(1.f/FPS);
if (simulate_on) { if (simulate_on) {
@ -1088,7 +1103,6 @@ void reshape(int width, int height)
fov.setResolution(width, height) fov.setResolution(width, height)
.setBounds(glm::vec3(-0.5f,-0.5f,-500.0f), glm::vec3(0.5f, 0.5f, 0.1f) ) .setBounds(glm::vec3(-0.5f,-0.5f,-500.0f), glm::vec3(0.5f, 0.5f, 0.1f) )
.setPerspective(0.7854f); .setPerspective(0.7854f);
glLoadMatrixf(glm::value_ptr(fov.getViewerScreenXform())); glLoadMatrixf(glm::value_ptr(fov.getViewerScreenXform()));
glMatrixMode(GL_MODELVIEW); glMatrixMode(GL_MODELVIEW);

2
voxel/src/main.cpp
View file

@ -375,6 +375,8 @@ int main(int argc, const char * argv[])
printf("rebroadcasting Z message to connected agents... agentList.broadcastToAgents()\n"); printf("rebroadcasting Z message to connected agents... agentList.broadcastToAgents()\n");
agentList.broadcastToAgents(packetData,receivedBytes, AGENT_TYPE_INTERFACE); agentList.broadcastToAgents(packetData,receivedBytes, AGENT_TYPE_INTERFACE);
} }
// If we got a PACKET_HEADER_HEAD_DATA, then we're talking to an AGENT_TYPE_INTERFACE, and we
// need to make sure we have it in our agentList.
if (packetData[0] == PACKET_HEADER_HEAD_DATA) { if (packetData[0] == PACKET_HEADER_HEAD_DATA) {
if (agentList.addOrUpdateAgent(&agentPublicAddress, if (agentList.addOrUpdateAgent(&agentPublicAddress,
&agentPublicAddress, &agentPublicAddress,